OpenRaiser/Intern-Atlas huggingface dataset:
OSM vs HD Maps: Map Representations for Trajectory Prediction
Venue: arXiv cs.CV 2023
Year: 2023

While High Definition (HD) Maps have long been favored for their precise depictions of static road elements, their accessibility constraints and susceptibility to rapid environmental changes impede the widespread deployment of autonomous driving, especially in the motion forecasting task. In this context, we propose to leverage OpenStreetMap (OSM) as a promising alternative to HD Maps for long-term motion forecasting. The contributions of this work are threefold: firstly, we extend the application of OSM to long-horizon forecasting, doubling the forecasting horizon compared to previous studies. Secondly, through an expanded receptive field and the integration of intersection priors, our OSM-based approach exhibits competitive performance, narrowing the gap with HD Map-based models. Lastly, we conduct an exhaustive context-aware analysis, providing deeper insights in motion forecasting across diverse scenarios as well as conducting class-aware comparisons. This research not only advances long-term motion forecasting with coarse map representations but additionally offers a potential scalable solution within the domain of autonomous driving.
A Brief Survey of Open Radio Access Network (O-RAN) Security
Venue: arXiv cs.NI 2023
Year: 2023

Open Radio Access Network (O-RAN), a novel architecture that separates the traditional radio access network (RAN) into multiple disaggregated components, leads a revolution in the telecommunication ecosystems. Compared to the traditional RAN, the proposed O-RAN paradigm is more flexible and more cost-effective for the operators, vendors, and the public. The key design considerations of O-RAN include virtualization and intelligent capabilities in order to meet the new requirements of 5G. However, because of the open nature and the newly imported techniques in O-RAN architecture, the assessment of the security in O-RAN architecture during its early development stage is crucial. This project aims to present an investigation of the current ORAN architecture from several attack surfaces, including (1) Architectural openness, (2) Cloud and Virtualization, (3) Network slicing, and (4) Machine Learning. The existing attack surfaces and corresponding mitigation methods of these attacks are also surveyed and provided in this report, serving as a guiding principle and valuable recommendation for the O-RAN implementers and framework designers.
Complex Organ Mask Guided Radiology Report Generation
Venue: arXiv cs.CV 2023
Year: 2023

The goal of automatic report generation is to generate a clinically accurate and coherent phrase from a single given X-ray image, which could alleviate the workload of traditional radiology reporting. However, in a real-world scenario, radiologists frequently face the challenge of producing extensive reports derived from numerous medical images, thereby medical report generation from multi-image perspective is needed. In this paper, we propose the Complex Organ Mask Guided (termed as COMG) report generation model, which incorporates masks from multiple organs (e.g., bones, lungs, heart, and mediastinum), to provide more detailed information and guide the model's attention to these crucial body regions. Specifically, we leverage prior knowledge of the disease corresponding to each organ in the fusion process to enhance the disease identification phase during the report generation process. Additionally, cosine similarity loss is introduced as target function to ensure the convergence of cross-modal consistency and facilitate model optimization.Experimental results on two public datasets show that COMG achieves a 11.4% and 9.7% improvement in terms of BLEU@4 scores over the SOTA model KiUT on IU-Xray and MIMIC, respectively. The code is publicly available at https://github.com/GaryGuTC/COMG_model.
Perturbation-based Active Learning for Question Answering
Venue: arXiv cs.CL 2023
Year: 2023

Building a question answering (QA) model with less annotation costs can be achieved by utilizing active learning (AL) training strategy. It selects the most informative unlabeled training data to update the model effectively. Acquisition functions for AL are used to determine how informative each training example is, such as uncertainty or diversity based sampling. In this work, we propose a perturbation-based active learning acquisition strategy and demonstrate it is more effective than existing commonly used strategies.
A Comprehensive Dynamic Simulation Framework for Coupled Neuromusculoskeletal-Exoskeletal Systems
Venue: arXiv cs.RO 2023
Year: 2023

The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks have limitations due to their reliance on experimental data and their inability to capture comprehensive biomechanical signals and dynamic responses. To address these challenges, we introduce an optimization-based dynamic simulation framework that integrates a complete neuromusculoskeletal feedback loop, rigid-body dynamics, human-exoskeleton interaction, and foot-ground contact. Without relying on experimental measurements or empirical data, our framework employs a stepwise optimization process to determine muscle reflex parameters, taking into account multidimensional criteria. This allows the framework to generate a full range of kinematic and biomechanical signals, including muscle activations, muscle forces, joint torques, etc., which are typically challenging to measure experimentally. To validate the effectiveness of the framework, we compare the simulated results with experimental data obtained from a healthy subject wearing an exoskeleton while walking at different speeds (0.9, 1.0, and 1.1 m/s) and terrains (flat and uphill). The results demonstrate that our framework can effectively and accurately capture the qualitative differences in muscle activity associated with different functions, as well as the evolutionary patterns of muscle activity and kinematic signals under varying walking conditions. The simulation framework we propose has the potential to facilitate gait analysis and performance evaluation of coupled human-exoskeleton systems, as well as enable efficient and cost-effective testing of novel exoskeleton designs and control strategies.
Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning
Venue: arXiv cs.RO 2023
Year: 2023

This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and Tail-end Insertion. In the first stage, the agent traces the contour of the thread twice using vision-based tactile sensors mounted on the gripper fingers. The two-run tracing is to locate the tail-end of the thread. In the second stage, it employs a tactile-guided reinforcement learning (RL) model to drive the robot to insert the thread into the target needle eyelet. The RL model is trained in a Unity-based simulated environment. The simulation environment supports tactile rendering which can produce realistic tactile images and thread modeling. During insertion, the position of the poke point and the center of the eyelet are obtained through a pre-trained segmentation model, Grounded-SAM, which predicts the masks for both the needle eye and thread imprints. These positions are then fed into the reinforcement learning model, aiding in a smoother transition to real-world applications. Extensive experiments on real robots are conducted to demonstrate the efficacy of our method. More experiments and videos can be found in the supplementary materials and on the website: https://sites.google.com/view/tac-needlethreading.
CDR-Adapter: Learning Adapters to Dig Out More Transferring Ability for Cross-Domain Recommendation Models
Venue: arXiv cs.IR 2023
Year: 2023

Data sparsity and cold-start problems are persistent challenges in recommendation systems. Cross-domain recommendation (CDR) is a promising solution that utilizes knowledge from the source domain to improve the recommendation performance in the target domain. Previous CDR approaches have mainly followed the Embedding and Mapping (EMCDR) framework, which involves learning a mapping function to facilitate knowledge transfer. However, these approaches necessitate re-engineering and re-training the network structure to incorporate transferrable knowledge, which can be computationally expensive and may result in catastrophic forgetting of the original knowledge. In this paper, we present a scalable and efficient paradigm to address data sparsity and cold-start issues in CDR, named CDR-Adapter, by decoupling the original recommendation model from the mapping function, without requiring re-engineering the network structure. Specifically, CDR-Adapter is a novel plug-and-play module that employs adapter modules to align feature representations, allowing for flexible knowledge transfer across different domains and efficient fine-tuning with minimal training costs. We conducted extensive experiments on the benchmark dataset, which demonstrated the effectiveness of our approach over several state-of-the-art CDR approaches.
Learning Robust Sequential Recommenders through Confident Soft Labels
Venue: arXiv cs.IR 2023
Year: 2023

Sequential recommenders that are trained on implicit feedback are usually learned as a multi-class classification task through softmax-based loss functions on one-hot class labels. However, one-hot training labels are sparse and may lead to biased training and sub-optimal performance. Dense, soft labels have been shown to help improve recommendation performance. But how to generate high-quality and confident soft labels from noisy sequential interactions between users and items is still an open question. We propose a new learning framework for sequential recommenders, CSRec, which introduces confident soft labels to provide robust guidance when learning from user-item interactions. CSRec contains a teacher module that generates high-quality and confident soft labels and a student module that acts as the target recommender and is trained on the combination of dense, soft labels and sparse, one-hot labels. We propose and compare three approaches to constructing the teacher module: (i) model-level, (ii) data-level, and (iii) training-level. To evaluate the effectiveness and generalization ability of CSRec, we conduct experiments using various state-of-the-art sequential recommendation models as the target student module on four benchmark datasets. Our experimental results demonstrate that CSRec is effective in training better performing sequential recommenders.
SPHEAR: Spherical Head Registration for Complete Statistical 3D Modeling
Venue: arXiv cs.CV 2023
Year: 2023

We present \emph{SPHEAR}, an accurate, differentiable parametric statistical 3D human head model, enabled by a novel 3D registration method based on spherical embeddings. We shift the paradigm away from the classical Non-Rigid Registration methods, which operate under various surface priors, increasing reconstruction fidelity and minimizing required human intervention. Additionally, SPHEAR is a \emph{complete} model that allows not only to sample diverse synthetic head shapes and facial expressions, but also gaze directions, high-resolution color textures, surface normal maps, and hair cuts represented in detail, as strands. SPHEAR can be used for automatic realistic visual data generation, semantic annotation, and general reconstruction tasks. Compared to state-of-the-art approaches, our components are fast and memory efficient, and experiments support the validity of our design choices and the accuracy of registration, reconstruction and generation techniques.
A scientometric-inspired framework to analyze EurekAlert! press releases
Venue: arXiv cs.DL 2023
Year: 2023

Press releases about scholarly news are brief statements provided in advance to the press, including a description of the most relevant findings of one or more accepted scientific publications, usually under the condition that journalists will adhere to an embargo until the publication date. The existence of centralized platforms such as EurekAlert! allows press releases to be disseminated online as independent news articles. Press releases can include additional material (e.g., interviews, commentaries, explanatory tables, figures, media, recommended readings), which turn them into online objects with analytical value of their own. The objective of this work is to illustrate how press releases can be quantitatively analyzed applying similar tools and approaches as those applied in scientometric research (SCI). To achieve this goal, a scientometric inspired analytical framework is proposed based on the formulation of spaces of interaction of objects, actors, and impacts. As such, the framework proposed considers press releases as science communication (SCO) objects, produced by different SCO actors (e.g., journalists), and the subject of receiving impact (e.g., tweets, links). To carry out this analysis, all press releases published by EurekAlert! from 1996 until 2021 (455,703 press releases), all tweets including at least one URL referring to a EurekAlert! press release (1,364,563 tweets), and all webpages with at least one URL referring to a EurekAlert! press release (54,089,233 webpages) have been studied. We argue that the large volume of press releases published and their online dissemination make these objects relevant in the measurement of SCO-SCI interactions.
Augment the Pairs: Semantics-Preserving Image-Caption Pair Augmentation for Grounding-Based Vision and Language Models
Venue: arXiv cs.CV 2023
Year: 2023

Grounding-based vision and language models have been successfully applied to low-level vision tasks, aiming to precisely locate objects referred in captions. The effectiveness of grounding representation learning heavily relies on the scale of the training dataset. Despite being a useful data enrichment strategy, data augmentation has received minimal attention in existing vision and language tasks as augmentation for image-caption pairs is non-trivial. In this study, we propose a robust phrase grounding model trained with text-conditioned and text-unconditioned data augmentations. Specifically, we apply text-conditioned color jittering and horizontal flipping to ensure semantic consistency between images and captions. To guarantee image-caption correspondence in the training samples, we modify the captions according to pre-defined keywords when applying horizontal flipping. Additionally, inspired by recent masked signal reconstruction, we propose to use pixel-level masking as a novel form of data augmentation. While we demonstrate our data augmentation method with MDETR framework, the proposed approach is applicable to common grounding-based vision and language tasks with other frameworks. Finally, we show that image encoder pretrained on large-scale image and language datasets (such as CLIP) can further improve the results. Through extensive experiments on three commonly applied datasets: Flickr30k, referring expressions and GQA, our method demonstrates advanced performance over the state-of-the-arts with various metrics. Code can be found in https://github.com/amzn/augment-the-pairs-wacv2024.
BanMANI: A Dataset to Identify Manipulated Social Media News in Bangla
Venue: arXiv cs.CL 2023
Year: 2023

Initial work has been done to address fake news detection and misrepresentation of news in the Bengali language. However, no work in Bengali yet addresses the identification of specific claims in social media news that falsely manipulates a related news article. At this point, this problem has been tackled in English and a few other languages, but not in the Bengali language. In this paper, we curate a dataset of social media content labeled with information manipulation relative to reference articles, called BanMANI. The dataset collection method we describe works around the limitations of the available NLP tools in Bangla. We expect these techniques will carry over to building similar datasets in other low-resource languages. BanMANI forms the basis both for evaluating the capabilities of existing NLP systems and for training or fine-tuning new models specifically on this task. In our analysis, we find that this task challenges current LLMs both under zero-shot and fine-tuned settings.
Multiple Object Tracking based on Occlusion-Aware Embedding Consistency Learning
Venue: arXiv cs.CV 2023
Year: 2023

The Joint Detection and Embedding (JDE) framework has achieved remarkable progress for multiple object tracking. Existing methods often employ extracted embeddings to re-establish associations between new detections and previously disrupted tracks. However, the reliability of embeddings diminishes when the region of the occluded object frequently contains adjacent objects or clutters, especially in scenarios with severe occlusion. To alleviate this problem, we propose a novel multiple object tracking method based on visual embedding consistency, mainly including: 1) Occlusion Prediction Module (OPM) and 2) Occlusion-Aware Association Module (OAAM). The OPM predicts occlusion information for each true detection, facilitating the selection of valid samples for consistency learning of the track's visual embedding. The OAAM leverages occlusion cues and visual embeddings to generate two separate embeddings for each track, guaranteeing consistency in both unoccluded and occluded detections. By integrating these two modules, our method is capable of addressing track interruptions caused by occlusion in online tracking scenarios. Extensive experimental results demonstrate that our approach achieves promising performance levels in both unoccluded and occluded tracking scenarios.
mahaNLP: A Marathi Natural Language Processing Library
Venue: arXiv cs.CL 2023
Year: 2023

We present mahaNLP, an open-source natural language processing (NLP) library specifically built for the Marathi language. It aims to enhance the support for the low-resource Indian language Marathi in the field of NLP. It is an easy-to-use, extensible, and modular toolkit for Marathi text analysis built on state-of-the-art MahaBERT-based transformer models. Our work holds significant importance as other existing Indic NLP libraries provide basic Marathi processing support and rely on older models with restricted performance. Our toolkit stands out by offering a comprehensive array of NLP tasks, encompassing both fundamental preprocessing tasks and advanced NLP tasks like sentiment analysis, NER, hate speech detection, and sentence completion. This paper focuses on an overview of the mahaNLP framework, its features, and its usage. This work is a part of the L3Cube MahaNLP initiative, more information about it can be found at https://github.com/l3cube-pune/MarathiNLP .
The New Frontier of Cybersecurity: Emerging Threats and Innovations
Venue: arXiv cs.CR 2023
Year: 2023

In today's digitally interconnected world, cybersecurity threats have reached unprecedented levels, presenting a pressing concern for individuals, organizations, and governments. This study employs a qualitative research approach to comprehensively examine the diverse threats of cybersecurity and their impacts across various sectors. Four primary categories of threats are identified and analyzed, encompassing malware attacks, social engineering attacks, network vulnerabilities, and data breaches. The research delves into the consequences of these threats on individuals, organizations, and society at large. The findings reveal a range of key emerging threats in cybersecurity, including advanced persistent threats, ransomware attacks, Internet of Things (IoT) vulnerabilities, and social engineering exploits. Consequently, it is evident that emerging cybersecurity threats pose substantial risks to both organizations and individuals. The sophistication and diversity of these emerging threats necessitate a multi-layered approach to cybersecurity. This approach should include robust security measures, comprehensive employee training, and regular security audits. The implications of these emerging threats are extensive, with potential consequences such as financial loss, reputational damage, and compromised personal information. This study emphasizes the importance of implementing effective measures to mitigate these threats. It highlights the significance of using strong passwords, encryption methods, and regularly updating software to bolster cyber defenses.
PotholeGuard: A Pothole Detection Approach by Point Cloud Semantic Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Pothole detection is crucial for road safety and maintenance, traditionally relying on 2D image segmentation. However, existing 3D Semantic Pothole Segmentation research often overlooks point cloud sparsity, leading to suboptimal local feature capture and segmentation accuracy. Our research presents an innovative point cloud-based pothole segmentation architecture. Our model efficiently identifies hidden features and uses a feedback mechanism to enhance local characteristics, improving feature presentation. We introduce a local relationship learning module to understand local shape relationships, enhancing structural insights. Additionally, we propose a lightweight adaptive structure for refining local point features using the K nearest neighbor algorithm, addressing point cloud density differences and domain selection. Shared MLP Pooling is integrated to learn deep aggregation features, facilitating semantic data exploration and segmentation guidance. Extensive experiments on three public datasets confirm PotholeGuard's superior performance over state-of-the-art methods. Our approach offers a promising solution for robust and accurate 3D pothole segmentation, with applications in road maintenance and safety.
An Approach for Multi-Object Tracking with Two-Stage Min-Cost Flow
Venue: arXiv cs.CV 2023
Year: 2023

The minimum network flow algorithm is widely used in multi-target tracking. However, the majority of the present methods concentrate exclusively on minimizing cost functions whose values may not indicate accurate solutions under occlusions. In this paper, by exploiting the properties of tracklets intersections and low-confidence detections, we develop a two-stage tracking pipeline with an intersection mask that can accurately locate inaccurate tracklets which are corrected in the second stage. Specifically, we employ the minimum network flow algorithm with high-confidence detections as input in the first stage to obtain the candidate tracklets that need correction. Then we leverage the intersection mask to accurately locate the inaccurate parts of candidate tracklets. The second stage utilizes low-confidence detections that may be attributed to occlusions for correcting inaccurate tracklets. This process constructs a graph of nodes in inaccurate tracklets and low-confidence nodes and uses it for the second round of minimum network flow calculation. We perform sufficient experiments on popular MOT benchmark datasets and achieve 78.4 MOTA on the test set of MOT16, 79.2 on MOT17, and 76.4 on MOT20, which shows that the proposed method is effective.